Sensors

Data Collection Devices

Relative models and supplementary materials of our platforms and sensor suite are provided in this repository: [TAIL-Platforms].

Sensor suit

Sensors characteristics

Each sensor and relative characteristics are represented in this table. Specially, tail provide the sensor data from wheel(wheel odom, vel, motor rpm and current) and quadruped robots(leg odom, contact and motor status).

Sensors characteristics

Robots

We utilize wheeled and quadrupedal robots to collect data and set up the compact sensor configuration. They are rugged enough to traverse through challenging terrains to explore more unstructured areas of an environment.

Robot platform

Time synchorization

We propose a hardware-synchorizated method for this sensor suite.

Time synchorization

Calibration